{"id":"https://openalex.org/W4401413716","doi":"https://doi.org/10.1109/icra57147.2024.10611291","title":"Kinesthetic-based In-Hand Object Recognition with an Underactuated Robotic Hand","display_name":"Kinesthetic-based In-Hand Object Recognition with an Underactuated Robotic Hand","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413716","doi":"https://doi.org/10.1109/icra57147.2024.10611291"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611291","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093836256","display_name":"Julius Arolovitch","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Julius Arolovitch","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030031036","display_name":"Osher Azulay","orcid":"https://orcid.org/0000-0002-7188-9201"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Osher Azulay","raw_affiliation_strings":["Tel-Aviv University,School of Mechanical Engineering,Israel"],"affiliations":[{"raw_affiliation_string":"Tel-Aviv University,School of Mechanical Engineering,Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030565378","display_name":"Avishai Sintov","orcid":"https://orcid.org/0000-0002-3320-3897"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Avishai Sintov","raw_affiliation_strings":["Tel-Aviv University,School of Mechanical Engineering,Israel"],"affiliations":[{"raw_affiliation_string":"Tel-Aviv University,School of Mechanical Engineering,Israel","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093836256"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13555544,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"abs/1803.01271","issue":null,"first_page":"18179","last_page":"18185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.9194908142089844},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7794314026832581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.695505678653717},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6086260676383972},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5778392553329468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5373261570930481},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47897079586982727},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4742885231971741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3815777897834778},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08034157752990723}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.9194908142089844},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7794314026832581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.695505678653717},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6086260676383972},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5778392553329468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5373261570930481},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47897079586982727},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4742885231971741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3815777897834778},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08034157752990723},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611291","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2019165997","https://openalex.org/W2066402397","https://openalex.org/W2070401730","https://openalex.org/W2115975197","https://openalex.org/W2123062563","https://openalex.org/W2140434853","https://openalex.org/W2155337985","https://openalex.org/W2218213558","https://openalex.org/W2344872270","https://openalex.org/W2563720727","https://openalex.org/W2589847876","https://openalex.org/W2751915788","https://openalex.org/W2792044747","https://openalex.org/W2808746767","https://openalex.org/W2908899527","https://openalex.org/W2911386938","https://openalex.org/W2944851425","https://openalex.org/W2946757886","https://openalex.org/W3000872671","https://openalex.org/W3096330502","https://openalex.org/W3104441645","https://openalex.org/W3112665924","https://openalex.org/W3118052346","https://openalex.org/W3128494150","https://openalex.org/W4221021166","https://openalex.org/W4225102768","https://openalex.org/W4284892334","https://openalex.org/W4285295841","https://openalex.org/W4310789520","https://openalex.org/W4312384059","https://openalex.org/W4312472771","https://openalex.org/W4313306243","https://openalex.org/W4382281072","https://openalex.org/W6749825310"],"related_works":["https://openalex.org/W2509658230","https://openalex.org/W2372596258","https://openalex.org/W2295602476","https://openalex.org/W86391281","https://openalex.org/W2963669118","https://openalex.org/W2025612888","https://openalex.org/W4300197462","https://openalex.org/W2952728690","https://openalex.org/W4313043940","https://openalex.org/W2770977067"],"abstract_inverted_index":{"Tendon-based":[0],"underactuated":[1,87],"hands":[2],"are":[3,13],"intended":[4],"to":[5,45,61,147],"be":[6,58,148],"simple,":[7],"compliant":[8],"and":[9,16,41,94],"affordable.":[10],"Often,":[11],"they":[12],"3D":[14],"printed":[15],"do":[17],"not":[18,32,57],"include":[19],"tactile":[20,35],"sensors.":[21],"Hence,":[22],"performing":[23],"in-hand":[24,83],"object":[25,81,111],"recognition":[26],"with":[27,85,118],"direct":[28],"touch":[29],"sensing":[30,91],"is":[31,144],"feasible.":[33],"Adding":[34],"sensors":[36],"can":[37,71,108],"complicate":[38],"the":[39,46,50,76,128],"hardware":[40],"introduce":[42],"extra":[43],"costs":[44],"robotic":[47],"hand.":[48,88],"Also,":[49],"common":[51],"approach":[52],"of":[53,78,99,115,123,130],"visual":[54],"perception":[55],"may":[56],"available":[59],"due":[60],"occlusions.":[62],"In":[63,126],"this":[64],"paper,":[65],"we":[66,103],"explore":[67],"whether":[68],"kinesthetic":[69],"haptics":[70],"provide":[72],"in-direct":[73],"information":[74],"regarding":[75],"geometry":[77],"a":[79,97,106,113,119,131,141],"grasped":[80],"during":[82,101,135],"manipulation":[84,136],"an":[86,110],"By":[89],"solely":[90],"actuator":[92],"positions":[93],"torques":[95],"over":[96],"period":[98],"time":[100],"motion,":[102],"show":[104],"that":[105],"classifier":[107,143],"recognize":[109],"from":[112],"set":[114],"trained":[116,142],"ones":[117],"high":[120],"success":[121],"rate":[122],"almost":[124],"95%.":[125],"addition,":[127],"implementation":[129],"real-time":[132],"majority":[133],"vote":[134],"further":[137],"improves":[138],"recognition.":[139],"Additionally,":[140],"also":[145],"shown":[146],"successful":[149],"in":[150],"distinguishing":[151],"between":[152],"shape":[153],"categories":[154],"rather":[155],"than":[156],"just":[157],"specific":[158],"objects.":[159]},"counts_by_year":[],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}